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检索条件"任意字段=Conference on Sensor Fusion and Distributed Robotic Agents"

共 371 条记录，以下是251-260 订阅

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fusion of Surveillance Information for Visual sensor Networks

Fusion of Surveillance Information for Visual Sensor Network...

引用

International conference on Information fusion

作者： Oscar Perez Miguel A. Patricio Jesus Garcia Javier Carbo Jose M. Molina Computer Science Department-GIAA Universidad Carlos Colmenarejo Spain

ISBN: (纸本)1424409535

The growing interest in surveillance in public, military and commercial scenarios is increasing the need to create intelligent or automated distributed visual surveillance systems. Many applications based on distributed resources use the software agent paradigm. In this work, a multi-agent framework is applied to coordinate an indoor-surveillance system based on video cameras. The capacity of coordination will allow the improvement of the global image and the effectiveness of the task distribution. Software agents are embedded in each camera and control the capture parameters. The multi-agent framework allows the coordination of the acquisition procedure based on high level messages and the fusion of information among agents. The agent paradigm uses the internal interpretation of the situation from each agent to improve the global coordination

关键词： Surveillance sensor fusion Cameras Computer science Software agents sensor systems Intelligent agent Application software Scalability Computer architecture

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Bout-based Gas Source Localization using Aerial Robot Swarms

Bout-based Gas Source Localization using Aerial Robot Swarms

引用

IEEE sensors conference

作者： Haeusler, Felix Stuehrenberg, Jan Smarsly, Kay Neumann, Patrick P. Hamburg Univ Technol Hamburg Germany BAM Fed Inst Mat Res & Testing Berlin Germany

ISBN: (纸本)9798350303872

Gas source localization (GSL) helps mitigate the impact of industrial accidents and natural disasters. While GSL may be dangerous and time-consuming when performed by humans, swarms of agile and inexpensive nano aerial robots may increase the safety and efficiency of gas source localizations. Since the small payloads of nano aerial robots limit the sensing and computing resources, strategies adapted from biological swarms, such as colonies of social insects, are used to coordinate robot swarms. Most swarm GSL strategies are based on the assumption that the maxima of gas concentrations are sufficiently close to the gas sources. However, prior studies have indicated that the occurrence of "bouts", a metric for the intermittency of gas distributions, may advantageously be used as a more accurate gas source proximity indicator. This paper presents a swarm GSL strategy employing bouts as source proximity indicators and a bio-inspired pheromone system for communication. Nano aerial robots, deployed in this study, act as agents and emit pheromone markers in an artificial environment upon detecting bouts. Leveraging the concept of artificial potential fields, the agents switch between exploiting the knowledge of the swarm by following pheromone gradients and exploring the search space by targeting a random point. The agents are repelled by each other and by walls to avoid collisions. The swarm GSL strategy is implemented into three nano aerial robots and validated in a real-world experiment in an indoor environment with a single gas source. The results indicate that the the swarm GSL strategy presented in this paper is capable of GSL in indoor environments and that the intermittency of gas distributions is a better source proximity indicator than the mean concentration.

关键词： Mobile robotic olfaction nano aerial robot gas source localization bouts distributed robotics

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16th International conference on distributed Computing and Artificial Intelligence, DCAI 2019

16th International Conference on Distributed Computing and A...

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16th International conference on distributed Computing and Artificial Intelligence, DCAI 2019

ISBN: (纸本)9783030238865

The proceedings contain 58 papers. The special focus in this conference is on distributed Computing and Artificial Intelligence. The topics include: A healthcare decision support system to overcome therapeutic centres challenges;an intelligent approach to design and development of personalized meta search: Recommendation of scientific articles;semantic links across distributed heterogeneous data;peculiarity classification of flat finishing motion based on tool trajectory by using self-organizing maps part 2: Improvement of clustering performance based on codebook vector density;an ontology-based deep learning approach for knowledge graph completion with fresh entities;exploitation of open data repositories for the creation of value-added services;feature extraction and classification of odor using attention based neural network;a conceptual group decision support system for current times: Dispersed group decision-making;density classification based on agents under majority rule: Connectivity influence on performance;korean license plate recognition system using combined neural networks;fault detection mechanism of a predictive maintenance system based on autoregressive integrated moving average models;object recognition: distributed architecture based on heterogeneous devices to integrate sensor information;a gift-exchange model for the maintenance of group cohesion in a telecommunications scenario;a sensitivity and performance analysis of word2vec applied to emotion state classification using a deep neural architecture;multi-view cooperative deep convolutional network for facial recognition with small samples learning;sampling rank correlated subgroups;multiple sources influence maximization in complex networks with genetic algorithm;detecting topics in documents by clustering word vectors;a forward-backward labeled multi-bernoulli smoother;kullback-leibler averaging for multitarget density fusion.

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Real-time common awareness in communication constrained sensor systems

Real-time common awareness in communication constrained sens...

引用

International conference on Information fusion

作者： Eelke van Foeken L. J. H. M. Kester M. van Iersel TNO Defence Safety and Security The Hague Netherlands

sensor systems need to be more adaptive to perform well in dynamically changing environments. Common awareness in sensor systems enables distributed agents to perform coordinated actions and reason about other agents. In addition, physical distribution of the agents in the network prevent a single point of failure and provides distributed sensing, but introduces the problem of communication constraints (e.g. bandwidth and latency), especially in complex sensors with large amounts of data. Therefore, the general aim is to develop evaluationmethods that enable each agent to determine the reward of information coming from its own sensors by balancing the value and the cost (determined by the communication constraints). The value of information is determined by the global need for information. These evaluationmethods are adaptive to changing, and possibly multiple and multi-dimensional requests and to changing communication constraints. In this paper the main focus lies on how to deal with latency.

关键词： Real time systems sensor systems Decision support systems Resource management Delay Intelligent sensors distributed processing Communication system security Information security Current measurement

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Multi-sensor optimal information fusion Kalman filter with mobile agents in ring sensor networks

Multi-sensor optimal information fusion Kalman filter with m...

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Iranian conference on Electrical Engineering (ICEE)

作者： Behrouz Safarinejadian Kazem Hasanpoor Shiraz University of Technology Iran

ISBN: (纸本)9781467356329

In this paper, two mobile agent based distributed Kalman filter algorithms are proposed for optimal information fusion in sensor networks. In the proposed methods, mobile agents (MAs) play an important and fundamental role in information fusion. A mobile agent travels among the sensors and collects the necessary information. The collected information is carried to a fusion centre in which the optimal state estimates are computed. Finally, the proposed methods are applied on a radar tracking system with five sensors arranged in two rings with some faulty sensors. Performance of the proposed methods will be compared with the centralized Kalman filter.

关键词： Mobile agents Kalman filters Equations Mathematical model Covariance matrices Noise Symmetric matrices

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2017 14th International conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

2017 14th International Conference on Ubiquitous Robots and ...

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14th International conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

ISBN: (纸本)9781509030552

The proceedings contain 252 papers. The topics discussed include: on distributed processing for underwater cooperative localization;on the use of general-purpose serial-link manipulators in eye surgery;fog degree measurement based on local contrast and color similarity;diachronic visualization simulation for disaster accident management using robotic system;endoscopic endonasal skull base surgery system;telesurgery system using surgical master device type of 3PUU;adaptive gain back-stepping sliding mode control for electrohydraulic servo system with uncertainties;light condition invariant visual SLAM via entropy based image fusion;a high voltage gan impulse generator for human detection UWB radar sensor;design and verification of a flexible device for steering a tethered capsule endoscope in the stomach;a study on the disaster response scenarios using robot technology;swimming in synthetic mucus;development of epiduroscopy training simulator using haptic master device;towards accurate kidnap resolution through deep learning;coupling virtual reality and motion platforms for snowboard training;development of a robot simulation system for remotely operated robots for operator proficiency training and robot performance verification;communication system of a segmented rescue robot utilizing socket programming and ROS;and feasibility of a photoacoustic image guided telerobotic system for skull base surgery.

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distributed fusion and communication management for target identification

Distributed fusion and communication management for target i...

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International conference on Information fusion

作者： C.-Y. Chong S. Mori BAE Systems Mountain View CA USA

The performance of target identification can be improved by fusing the data from multiple sensors. Even though distributed fusion has advantages of lower communication bandwidth, less processing at a central location, and increased robustness over centralized fusion, it has to address technical issues such as the conditional dependence of information to be fused by a fusion agent. This paper presents distributed fusion and communication management algorithms for target identification. Information graphs are used to select fusion architectures that minimize the effect of information double counting due to communication. Bayesian networks are used to model the target identification problem and identify the sufficient information that needs to be communicated between processing agents for optimal fusion. Communication strategies are developed to determine when a fusion agent should communicate with another fusion agent. Simulation examples demonstrate the performance of distributed fusion and communication management.

关键词： Bayesian methods Bandwidth sensor phenomena and characterization Target tracking Robustness sensor systems Identity management systems Military communication Geometry Information analysis

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A multi-agent architecture to support active fusion in a visual sensor network

A multi-agent architecture to support active fusion in a vis...

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ACM/IEEE International conference on distributed Smart Cameras, ICDSC

作者： Federico Castanedo Jesus Garcia Miguel A. Patricio Jose M. Molina Applied Artificial Intelligence Group Computer Science Department Universidad Carlos III de Madrid Spain

One of the main characteristics of a visual sensor network environment is the high amount of data generated. In addition, the application of some process, as for example tracking objects, generate a highly noisy output which may potentially produce an inconsistent system output. By inconsistent output we mean highly differences between tracking information provided by the visual sensors. A visual sensor network, with overlapped field of views, could exploit the redundancy between the field of view of each visual sensor to avoid inconsistencies and obtain more accurate results. In this paper, we present a visual sensor network system with overlapped field of views, modeled as a network of software agents. The communication of each software agent allows the use of feedback information in the visual sensors, called active fusion. Results of the software architecture to support active fusion scheme in an indoor scenario evaluation are presented.

关键词： Visualization Cameras Computer architecture Target tracking Multiagent systems Computational modeling Software agents

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distributed hierarchical decision fusion with cluster validity

Distributed hierarchical decision fusion with cluster validi...

引用

IEEE International conference on Systems, Man and Cybernetics

作者： X.L. Xie G. Beni Center for Robotic Systems University of California Santa Barbara CA USA

The decision problem that arises in complex engineering problems where many separate sensors have to be used in parallel to measure a large set of objects, such as target detection/recognition, is addressed. A distributed hierarchical decision fusion method based on the validity of fuzzy clustering is proposed. Each sensor makes a local decision using a fuzzy clustering method and sends its decision about the number of clusters and the validity of the decision about the number of clusters and the validity of the decision, measured using a well-defined criterion, to the central station. The central station fuses the decisions collected from each sensor and makes a team decision optimizing all the local decisions. After clustering based on the optimal feature, the process is repeated until all object are properly classified. The result is a hierarchical decision tree that represents a description of a set of a priori unknown objects. This method has been applied to scenes where each object appears in a specified region.< >

关键词： Robot sensing systems sensor fusion Orbital robotics sensor systems Data mining Feature extraction Image sensors Image texture analysis Military computing Computational efficiency

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Finite-time consensus for multi-agent systems with application to sensor fusion

Finite-time consensus for multi-agent systems with applicati...

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IEEE conference on Decision and Control

作者： Fangcui Jiang Long Wang Center for Systems and Control Department of Mechanics and Space Technologies College of Engineering Peking University Beijing China

ISBN: (纸本)9781424438716

This paper studies the finite-time consensus for a group of dynamic agents. For the entire group, we establish the explicit expression of the consensus state, which can be characterized by the new concept of weighted average consensus with respect to a monotonic function. For networks with undirected topology, we prove that the weighted average consensus with respect to a monotonic function can be solved in finite time when the interactions among agents are taken as power-law based function. These results are further extended to a class of networks where the topologies are directed and satisfy a detailed balance condition on coupling weights. As an application of the theoretical results to sensor fusion, we propose a distributed scheme to compute the maximum-likelihood (ML) estimate of unknown parameters. Numerical simulations show that the distributed scheme can be used to compute the ML estimate of unknown parameters effectively.

关键词： Multiagent systems sensor fusion Network topology Maximum likelihood estimation Protocols distributed computing Parameter estimation Numerical simulation Convergence Sufficient conditions

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